CN115284306B

CN115284306B - Robot manipulator with adjustable

Info

Publication number: CN115284306B
Application number: CN202210792155.8A
Authority: CN
Inventors: 陈大林
Original assignee: Southeast University
Current assignee: Southeast University
Priority date: 2022-07-05
Filing date: 2022-07-05
Publication date: 2023-07-18
Anticipated expiration: 2042-07-05
Also published as: CN115284306A

Abstract

The invention discloses an adjustable robot manipulator, which relates to the technical field of manipulators and solves the technical problem of poor stability of clamping jaws of the manipulator.

Description

Robot manipulator with adjustable

Technical Field

The application relates to the technical field of manipulators, in particular to an adjustable robot manipulator.

Background

The robot manipulator is a machine device capable of imitating some action functions of a human hand and an arm, can automatically execute work, can accept human command, can run a pre-programmed program, can replace heavy labor of people to realize mechanization and automation of production, can operate under a harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like.

When the manipulator is used, the two clamping jaws are driven to synchronously move towards opposite directions through the driving steering wheel during operation under normal conditions, namely, the two clamping jaws can do parallel opening and closing movements, the grabbing stability can be guaranteed, the two clamping jaws are in a parallel state and have larger opening angles, objects in various shapes such as spherical, cuboid and cylindrical bodies can be grabbed, when the heavy objects are grabbed, the inner side surfaces of the clamping jaws are smooth and the clamping jaws are in a vertical state, the lifting effect on the objects can not be achieved, so that the clamping force of the two clamping jaws is limited and unstable in the clamping process of the heavy objects, the clamping jaws can not stably and firmly clamp the objects, the objects between the two clamping jaws can slide downwards due to inertia, the objects are easy to break away from the ground between the two clamping jaws, and the objects can not be stably processed and transported.

Disclosure of Invention

The application provides an adjustable robot manipulator, its technical purpose improves the stability of manipulator clamping jaw, makes the manipulator can stabilize firm clamp the article to prevent the downward landing of article.

The technical aim of the application is achieved through the following technical scheme:

the adjustable robot manipulator comprises a base, a rotating disc, a controller, a hydraulic cylinder, a first arm, a second arm and a clamping device, wherein the controller and the rotating disc are arranged on the base, the hydraulic cylinder is inserted on the rotating disc, the first arm connected with the hydraulic cylinder is connected with the second arm, the clamping device is arranged on the second arm, and the clamping device comprises 2 lifting assemblies, a steering wheel, 2 clamping jaws, a hinging limiting chuck, a movable seat and a sliding adjusting piece; each lifting assembly is arranged on the corresponding clamping jaw, and the clamping jaw penetrates through the sliding adjusting piece and stretches into the movable seat; the steering wheel comprises a main rudder and 2 auxiliary rudders, one end of each auxiliary rudder is connected with the main rudder through the hinge, the other end of each auxiliary rudder is connected with the clamping jaw through the hinge, the main rudder is mounted on the limiting chuck, the limiting chuck is arranged on the movable seat and in the middle of 2 clamping jaws, and the movable seat is mounted on the second arm.

Further, each lifting assembly comprises a swinging support piece, a guide piece, a sliding piece, a movable disc, a shell, a slideway, a connecting guide block and a moving rod, wherein the swinging support piece penetrates through the shell and is connected with the movable disc, the circle centers of the shell, the movable disc and the guide piece are the same, the movable disc is arranged in the shell, and the guide piece is arranged in the center of the movable disc; the housing is mounted on the clamping jaw;

the movable plate and the guide piece are uniformly provided with the movable rod, one end of the movable rod is connected with the guide piece, the other end of the movable rod is movably connected with the engagement guide block, and the engagement guide block is uniformly arranged on the movable plate;

the sliding way is uniformly arranged between the movable disc and the shell, one end of the sliding piece is connected with the movable disc, and the other end of the sliding piece is movably connected with the sliding way;

the number of the moving rod, the engagement guide block, the slideway and the sliding piece are the same.

Further, the swinging support piece comprises a contact pad, an air bag, a bent angle, a spring rod, a butt-joint spring plate, an outer frame, a pressing plate and an auxiliary pushing piece; the bent angle is arranged at the outer bottom of the outer frame, the airbag is arranged in the bent angle, and the contact pad is arranged on the inner outer surface of the bent angle; 3 spring rods are connected in the outer frame near the left side, and adjacent spring rods are connected through the spring receiving plate; the elastic pressing rod penetrates through and stretches into the auxiliary pushing piece, the auxiliary pushing piece is connected with the pressing plate, the pressing plate is connected with the right side of the outer frame, and the outer frame penetrates through the shell and is connected with the movable disc.

Further, the bent angle and the outer frame form a J-shaped structure.

Further, a first fastener is arranged on the left side of the sliding adjusting piece, a second fastener is arranged on the right side of the sliding adjusting piece, the first fastener and the second fastener are of U-shaped structures, U-shaped openings of the first fastener and the second fastener are opposite, the first fastener is fastened with the second fastener, 2 insertion holes are formed in the first fastener and the second fastener, and the clamping jaw penetrates through the sliding adjusting piece through the insertion holes;

the sliding adjusting piece is internally provided with 3 butt joint guide pieces, the left end and the right end of the butt joint guide pieces are respectively provided with a traction plate, the traction plate at the left end is connected with the first fastener, the traction plate at the right end is connected with the second fastener, the traction plate is provided with a connecting hole, and the clamping jaw penetrates through the sliding adjusting piece through the jack entering the connecting hole.

Further, a movable frame is arranged in the middle of the butt joint guide piece, the left end and the right end of the movable frame are connected with a holding plate, and the holding plate is provided with the connecting hole;

the movable frame is internally provided with 4 clamping blocks, a movable cavity is arranged between every two adjacent clamping blocks, a quadrilateral opening and closing adjusting piece is arranged in the movable cavity, and the left vertex and the right vertex of the opening and closing adjusting piece are connected with the clamping blocks.

Further, the opening and closing adjusting piece is a quadrangle formed by 4 connecting frames, 2 telescopic opening pieces are arranged in the middle of the connecting frames, and two ends of the 2 telescopic opening pieces are respectively inserted into the 4 connecting frames; the middle of the telescopic tensioning piece is connected through a limiting block, and two ends of the telescopic tensioning piece are connected through movable fasteners;

the elastic balls are uniformly distributed on the sides, far away from each other, of the 2 telescopic tension members, the elastic balls which are adjacent on the straight line are connected through the braces, the elastic balls at the corners are connected through the triangular extension members, and the telescopic tension members, the elastic balls, the braces and the triangular extension members form a triangle.

The beneficial effects of this application lie in: the application the device is got to clamp of manipulator is including lifting subassembly, steering wheel, clamping jaw, articulated, inject chuck, remove seat and slip accent piece, two clamping jaws run through the slip accent piece and stretch into and remove inside the seat, the tip of two clamping jaws can be through articulated the both ends of connecting at the steering wheel, the steering wheel is inwards or outwards removed through articulated drive two clamping jaws, adjust the interval between two clamping jaws according to the size of article, two clamping jaws are in the adjustment back to certain position, restrict the position of steering wheel through inject the chuck for two clamping jaws can stabilize the card in the position after the adjustment, the rethread lifts the bottom of subassembly cooperation clamping jaw to the article and lifts, effectively stablizes the clamp to the article and get.

Drawings

Fig. 1 is a schematic structural view of a robotic manipulator according to the present application;

FIG. 2 is a schematic view of the internal structure of the clamping device of the present application;

FIG. 3 is a schematic cross-sectional view of a lifting assembly of the present application;

FIG. 4 is a schematic view of the internal structure of the swing bracket of the present application;

FIG. 5 is a schematic view of the internal structure of the sliding adjuster of the present application;

FIG. 6 is a schematic cross-sectional view of the docking guide of the present application;

FIG. 7 is a schematic view of the internal structure of the opening-closing member of the present application;

in the figure: 1-a base; 2-a controller; 3-a hydraulic cylinder; 4-clamping device; 5-a first arm; 6-rotating the disc; 7-a second arm; 8-a main rudder; 9-auxiliary rudder; q1-a lifting assembly; w2-rudder disk; t4-clamping jaw; i7-hinging; y5-defines a chuck; e3-a movable seat; u6-sliding adjustment; r11-swing brackets; i15-a guide; t12-slide; s18, a movable disc; p16-shell; y13-slideway; u14-connecting guide blocks; a17-a moving rod; d21—contact pads; f23-an air bag; j25-bent angle; g22-a spring rod; h24-butt joint spring plates; l27-an outer frame; k26-sticking a pressing plate; z28-auxiliary pushing piece; k31-first fastener; z33-docking guide; x34-a second fastener; l32-jack; c41-connecting holes; b46-clamping blocks; n42-active cavity; q45-pulling plate; v43-opening and closing adjusting piece; m44-active frame; e51-a movable fastener; y54-connecting frame; t52-bracing; p57-defined blocks; r53-a spring ball; i56, a telescopic tension member; u55-triangular extension.

Detailed Description

The technical scheme of the application will be described in detail below with reference to the accompanying drawings.

Example 1

Referring to fig. 1, the robot manipulator of this application includes base 1, rotary disk 6, controller 2, hydraulic cylinder 3, first arm 5, second arm 7 and presss from both sides and get device 4, controller 2 with rotary disk 6 all establishes on base 1, peg graft on the rotary disk 6 have hydraulic cylinder 3, connect on the hydraulic cylinder 3 first arm 5 with second arm 7 meets, second arm 7 installs press from both sides and get device 4.

As shown in fig. 2, the gripping device 4 comprises 2 lifting assemblies Q1, a steering wheel W2, 2 clamping jaws T4, a hinge I7, a limiting chuck Y5, a mobile seat E3 and a sliding adjuster U6; each lifting assembly Q1 is mounted on the corresponding clamping jaw T4, and the clamping jaw T4 penetrates through the sliding adjusting piece U6 and stretches into the movable seat E3; the steering wheel W2 comprises a main steering wheel 8 and 2 auxiliary steering wheels 9, one end of each auxiliary steering wheel 9 is connected with the main steering wheel 8 through a hinge I7, the other end of each auxiliary steering wheel 9 is connected with each clamping jaw T4 through the hinge I7, the main steering wheel 8 is mounted on a limiting chuck Y5, the limiting chuck Y5 is arranged on a movable seat E3 and is arranged in the middle of 2 clamping jaws T4, and the movable seat E3 is mounted on a second arm 7.

The limiting chuck Y5 is used for matching with the rudder disc W2, the 2 auxiliary rudders 9 of the rudder disc W2 are connected to the clamping jaws T4 through the hinge I7, the main rudder 8 of the rudder disc W2 drives the two clamping jaws T4 to move inwards or outwards through the hinge I7, the distance between the two clamping jaws T4 is adjusted, and after the two clamping jaws T4 are adjusted to a certain position, the limiting chuck Y5 is used for limiting the position of the rudder disc W2, so that the two clamping jaws T4 can be stably clamped at the adjusted position.

As shown in fig. 3, each lifting assembly comprises a swinging support R11, a guide member I15, a sliding member T12, a movable disk S18, a housing P16, a slideway Y13, a connection guide block U14 and a moving rod a17, wherein the swinging support R11 penetrates through the housing P16 to be connected with the movable disk S18, the centers of the circles of the housing P16, the movable disk S18 and the guide member I15 are the same, the movable disk S18 is arranged in the housing P16, and the center of the movable disk S18 is provided with the guide member I15; the housing P16 is mounted on the jaw T4.

The movable plate S18 and the guide piece I15 are uniformly provided with the movable rod A17, one end of the movable rod A17 is connected with the guide piece I15, the other end of the movable rod A17 is movably connected with the engagement guide block U14, and the engagement guide block U14 is uniformly arranged on the movable plate S18.

The guide member I15 is used to cooperate with the movable disc S18, the engagement guide block U14 on the movable disc S18 is connected to the movable rod a17, the other ends of the plurality of movable rods a17 are connected to the guide member I15, the movable disc S18 is movably adjusted on the guide member I15 under the action of the movable rod a17, the lower end of the movable disc S18 is connected to the swinging support member R11, and the swinging support member R11 swings left and right along with the movable disc S18.

The slide way Y13 is uniformly arranged between the movable disc S18 and the shell P16, one end of the sliding piece T12 is connected with the movable disc S18, and the other end is movably connected with the slide way Y13.

The number of the moving rod a17, the engagement guide U14, the slide way Y13, and the slider T12 are the same.

As shown in fig. 4, the swinging support R11 includes a contact pad D21, an air bag F23, a bent angle J25, a spring rod G22, a butt spring plate H24, an outer frame L27, a pressing plate K26, and an auxiliary pushing member Z28; the bent angle J25 is arranged at the outer bottom of the outer frame L27, the air bag F23 is arranged in the bent angle J25, and the contact pad D21 is arranged on the inner outer surface of the bent angle J25; 3 spring rods G22 are connected to the left side of the outer frame L27, and adjacent spring rods G22 are connected through the spring receiving plate H24; the spring rod G22 penetrates and stretches into the auxiliary pushing piece Z28, the auxiliary pushing piece Z28 is connected with the pressing plate K26, the pressing plate K26 is connected with the right side of the outer frame L27, and the outer frame L27 penetrates through the shell P16 and is connected with the movable disc S18.

The bent angle J25 is connected with the outer frame L27 in an anastomotic way to form a J-shaped structure.

Example two

The basic arrangement of the robot manipulator is the same as that of the first embodiment, as shown in fig. 1 and 2, and will not be described again.

As shown in fig. 5, a first fastener K31 is disposed on the left side of the sliding adjuster U6, a second fastener X34 is disposed on the right side of the sliding adjuster U6, the first fastener K31 and the second fastener X34 are both in a "U" structure, the openings of the first fastener K31 and the second fastener X34 are opposite, the first fastener K31 is fastened with the second fastener X34, two insertion holes L32 are disposed on the first fastener K31 and the second fastener X34, and the clamping jaw T4 penetrates through the sliding adjuster U6 through the insertion holes L32.

The sliding adjusting piece U6 is internally provided with 3 butt joint guide pieces Z33, the left end and the right end of each butt joint guide piece Z33 are respectively provided with a traction plate Q45, each traction plate Q45 is provided with a connecting hole C41, and the clamping jaw T4 penetrates through the sliding adjusting piece U6 by entering the connecting hole C41 through the insertion hole L32.

The first fastening member K31 and the second fastening member X34 are configured to vertically insert the two clamping jaws T4 into the insertion holes L32 of the first fastening member K31 and the second fastening member X34, where the first fastening member K31 and the second fastening member X34 are fastened together, and the first fastening member K31 and the second fastening member X34 can drive the two clamping jaws T4 to move and adjust inwards or outwards.

As shown in fig. 6, a movable frame M44 is disposed in the middle of the butt joint guide Z33, the left end and the right end of the movable frame M44 are both connected with a holding plate Q45, the holding plate Q45 at the left end is connected with a first fastener K31, the holding plate Q45 at the right end is connected with a second fastener X34, and the holding plate Q45 is provided with the connection hole C41.

The movable frame M44 is internally provided with 4 clamping blocks B46, a movable cavity N42 is arranged between every two adjacent clamping blocks B46, a quadrilateral opening and closing adjusting piece V43 is arranged in the movable cavity N42, and the left vertex and the right vertex of the opening and closing adjusting piece V43 are connected with the clamping blocks B46.

As shown in fig. 7, the opening-closing adjusting member V43 is a quadrilateral formed by 4 connecting frames Y54, 2 telescopic tensioning members I56 are arranged in the middle of the connecting frames Y54, and two ends of the 2 telescopic tensioning members I56 are respectively inserted into the 4 connecting frames Y54; the middle of the telescopic tensioning piece I56 is connected through a limiting block P57, and two ends of the telescopic tensioning piece I56 are connected through a movable fastener E51.

The elastic balls R53 are uniformly distributed on the sides, far away from each other, of the 2 telescopic tension members I56, the elastic balls R53 which are adjacent on the straight line are connected through the stay T52, the elastic balls R53 at the corners are connected through the triangular extension members U55, and the telescopic tension members I56, the elastic balls R53, the stay T52 and the triangular extension members U55 form triangles.

The brace T52 is used for being matched with the elastic ball R53, the triangular extension piece U55 is connected to the adjacent elastic ball R53 in an internal mode, the triangular extension piece U55 and the elastic ball R53 are connected in series to form a triangular structure, the triangular structure is connected to the outer side of the telescopic extension piece I56, the elastic ball R53 is connected with the brace T52, the telescopic extension piece I56 can be expanded along with the opening and closing movement of the telescopic extension piece I56, the telescopic extension piece I56 is effectively restrained, and the movable adjustment of the telescopic extension piece I56 is facilitated.

The working principle in the technical scheme is described as follows:

when the movable seat E3 is used, the movable seat E3 is arranged on the second arm 7, the two clamping claws T4 respectively penetrate through the insertion holes L32 on the first fastener K31 and the second fastener X34, the two clamping claws T4 extend into the connection holes C41 on the holding plates Q45 on the two sides of the three movable frames M44 after being inserted into the first fastener K31 and the second fastener X34, the two clamping claws T4 extend into the movable seat E3 after being inserted into the connection holes C41 layer by layer, the end parts of the two clamping claws T4 are connected to the two ends of the steering wheel W2 through the hinge I7, the steering wheel W2 drives the two clamping claws T4 to move inwards or through the hinge I7, the distance between the two clamping claws T4 is adjusted according to the size of an object, when the two clamping jaws T4 move inwards, the clamping jaws T4 drive the traction plate Q45 to move inwards through the connecting holes C41, the traction plate Q45 pushes the movable frame M44 inwards, the movable frame M44 pushes four clamping blocks B46 inside the movable frame M44 inwards at the same time after being pressed, the four clamping blocks B46 squeeze the connecting frame Y54 when moving inwards, the connecting frame Y54 is pressed to retract inwards and extend outwards, the connecting frame Y54 is internally connected with two telescopic expansion pieces I56, the two telescopic expansion pieces I56 are limited on the middle position inside the connecting frame Y54 through limiting blocks P57, after the connecting frame Y54 extends and opens, the telescopic expansion pieces I56 are opened under the restraint of the connecting frame Y54, and the triangular expansion pieces U55 connected to the two sides of the telescopic expansion pieces I56 extend outwards along with the movable expansion pieces I56. The inner side of the triangular extension piece U55 is provided with a brace T52 and an elastic ball R53, the brace T52 and the elastic ball R53 have good elastic pull performance, when the triangular extension piece U55 extends, the brace T52 and the elastic ball R53 move along with the triangular extension piece U55 to effectively match the triangular extension piece U55 to hold the telescopic extension piece I56, after the two telescopic extension pieces I56 are simultaneously outwards opened, the movable fastener E51 between the two telescopic extension pieces I56 can be pressed and inwards moved along with the telescopic extension piece I, after the two clamping jaws T4 are adjusted to corresponding positions, the movable fastener E51 between the two telescopic extension pieces I56 can be buckled together, after the steering wheel W2 holds the two clamping jaws T4 inwards to a certain position, the steering wheel W2 is limited by limiting the position of the steering wheel W5, the two clamping jaws T4 are stably clamped at the adjusted positions by limiting the mutual matching of the chuck Y5 and the butt joint guide piece Z33, the two clamping jaws T4 can stably clamp and grab heavy objects, the inner sides of the two clamping jaws T4 are pressed and inwards to form a wave friction surface, and after the clamping jaws T4 are contacted with the heavy objects can be effectively limited.

After the gripping jaw T4 grips the heavy object, the upper end of the outer frame L27 penetrates through the shell P16 and is inserted into the movable disc S18, the movable disc S18 is provided with a plurality of connecting guide blocks U14, the connecting guide blocks U14 and the movable rods A17 are stably connected together, the end parts of the plurality of movable rods A17 are simultaneously connected to the guide piece I15, when the position of the outer frame L27 needs to be adjusted, the movable rods A17 drive the movable disc S18 to rotate and adjust on the guide piece I15, the sliding piece T12 on the outer side of the movable disc S18 moves downwards on the slide way Y13 in the rotating process, the movable position of the sliding piece T12 is limited by the fastener inside the slide way Y13, the outer frame L27 is adjusted to the corresponding position, the lower end of the pressing plate K26 is pressed on the side wall of the heavy object along with the outer frame L27 in an inclined state after the adjustment, the lower end of the pressing plate K26 is connected with the heavy object, the auxiliary pushing piece Z28 connected with the lower end of the pressing plate K26 is retracted inwards after being pressed by a weight, the auxiliary pushing piece Z28 transmits the extrusion force to the extrusion rod G22, the extrusion rod G22 at the lower end inside the outer frame L27 is retracted inwards after being pressed, the extrusion rod G22 at the upper end of the outer frame L27 is extended outwards after being pressed, the extrusion rod G22 can push the auxiliary pushing piece Z28 outwards, the auxiliary pushing piece Z28 can push the upper end of the pressing plate K26 outwards, the pressing plate K26 can be fit and attached to the side wall of the weight, the bottom edge of the weight can be propped against the contact pad D21, the compression position of the contact pad D21 is recessed inwards to press the bent angle J25, the air bag F23 inside the bent angle J25 is stressed after being pressed, the stress position of the air bag F23 is retracted inwards, the two sides of the air bag F22 are expanded outwards, the contact pad D21 is effectively pushed outwards to wrap the bottom edge of the weight, the bottom of the weight is effectively lifted, prevent that the heavy object from falling downwards because of the inertia of gravity, lift the subassembly Q1 through lifting the stable centre gripping of clamping jaw T4 to the heavy object for the heavy object can be stably limited between two clamping jaw T4, thereby keeps the stability of heavy object, makes first arm 5 and second arm 7 can stabilize the heavy object and process the transportation under the effect of controller 2.

In summary, the novel adjustable robot manipulator is formed by combining the base, the rotating disc, the controller, the hydraulic cylinder, the first arm, the second arm and the clamping device, the two clamping jaws penetrate through the sliding adjusting piece and extend into the movable base, the end parts of the two clamping jaws are connected to the two ends of the rudder disc through hinges, the rudder disc drives the two clamping jaws to move inwards or outwards through hinges, the distance between the two clamping jaws is adjusted according to the size of an object, after the two clamping jaws are adjusted to a certain position, the position of the rudder disc is limited through the limiting chuck, the two clamping jaws can be stably clamped at the adjusted position, and then the lifting assembly is matched with the clamping jaws to lift the bottom of the object, so that the object is effectively clamped stably.

Through swing support, guide, slider, movable disk, shell, slide, linking guide block, movable rod, run through the shell with the swing support and stretch into inside the movable disk, drive the slider through the movable disk and remove the adjustment on the slide, the slide is prescribe a limit to the position of slider, prevents that the slider from moving excessively, supports the position of movable disk through the movable rod, and the swing support swings the adjustment under the effect of movable disk to support on the bottom side of article, thereby play the lift effect to the article.

Through connect hole, fixture block, movable chamber, hold-down plate, open and close the piece, movable frame, the clamping jaw can run through and stretch into the inside of connect hole, the clamping jaw can be through hold-down plate to draw the movable frame when inwards or outwards remove, after the movable frame atress, three open and close the piece on its inside movable chamber can inwards retract simultaneously or outwards open, with the movable frame adjustment of opening and closing, the clamping jaw is in the adjustment to corresponding position after, limit the card through opening and closing the piece to the position of movable frame to keep the stability of clamping jaw after the adjustment, effectively carry out the centre gripping to the article and prescribe a limit.

While the fundamental and principal features of the invention and advantages of the invention have been shown and described, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims

1. The utility model provides a robot manipulator with adjustable, includes base (1), rotary disk (6), controller (2), hydraulic cylinder (3), first arm (5), second arm (7) and clamp get device (4), controller (2) with rotary disk (6) are all established on base (1), peg graft on rotary disk (6) have hydraulic cylinder (3), first arm (5) that are connected on hydraulic cylinder (3) are connected with second arm (7), second arm (7) are installed clamp and get device (4), its characterized in that, clamp and get device (4) include 2 and hold up subassembly (Q1), steering wheel (W2), 2 clamping jaw (T4), articulated (I7), inject chuck (Y5), remove seat (E3) and slip adjustment piece (U6); each lifting assembly (Q1) is arranged on the corresponding clamping jaw (T4), and the clamping jaw (T4) penetrates through the sliding adjusting piece (U6) and stretches into the moving seat (E3); the steering wheel (W2) comprises a main steering wheel (8) and 2 auxiliary steering wheels (9), one end of each auxiliary steering wheel (9) is connected with the main steering wheel (8) through the corresponding hinge joint (I7), the other end of each auxiliary steering wheel is connected with the corresponding clamping jaw (T4) through the corresponding hinge joint (I7), the main steering wheel (8) is mounted on the corresponding limiting chuck (Y5), the corresponding limiting chuck (Y5) is arranged on the corresponding movable seat (E3) and is arranged among the corresponding 2 clamping jaws (T4), and the corresponding movable seat (E3) is mounted on the corresponding second arm (7);

each lifting assembly (Q1) comprises a swinging support (R11), a guide piece (I15), a sliding piece (T12), a movable disc (S18), a shell (P16), a slideway (Y13), a connecting guide block (U14) and a moving rod (A17), wherein the swinging support (R11) penetrates through the shell (P16) and is connected with the movable disc (S18), the centers of circles of the shell (P16), the movable disc (S18) and the guide piece (I15) are the same, the movable disc (S18) is arranged in the shell (P16), and the guide piece (I15) is arranged in the center of the movable disc (S18); -said housing (P16) being mounted on said jaws (T4);

the movable disc (S18) and the guide piece (I15) are uniformly provided with the movable rod (A17), one end of the movable rod (A17) is connected with the guide piece (I15), the other end of the movable rod is movably connected with the connecting guide block (U14), and the connecting guide block (U14) is uniformly arranged on the movable disc (S18);

the slide way (Y13) is uniformly arranged between the movable disc (S18) and the shell (P16), one end of the sliding piece (T12) is connected with the movable disc (S18), and the other end of the sliding piece is movably connected with the slide way (Y13);

the number of the moving rod (A17), the engagement guide block (U14), the slideway (Y13) and the sliding piece (T12) is the same.

2. The robotic manipulator according to claim 1, wherein the swing support (R11) comprises a contact pad (D21), an air bag (F23), a corner (J25), a spring lever (G22), a butt spring plate (H24), an outer frame (L27), a press plate (K26) and an auxiliary pushing member (Z28); the bent angle (J25) is arranged at the outer bottom of the outer frame (L27), the airbag (F23) is arranged in the bent angle (J25), and the contact pad (D21) is arranged on the inner outer surface of the bent angle (J25); 3 spring rods (G22) are connected to the inner side of the outer frame (L27) close to the left side, and adjacent spring rods (G22) are connected through the spring receiving plate (H24); the elastic pressing rod (G22) penetrates into the auxiliary pushing piece (Z28), the auxiliary pushing piece (Z28) is connected with the pressing plate (K26), the pressing plate (K26) is connected with the right side of the outer frame (L27), and the outer frame (L27) penetrates through the shell (P16) and is connected with the movable disc (S18).

3. The robotic manipulator according to claim 2, wherein the corner (J25) forms a "J" shape with the outer frame (L27).

4. The robotic manipulator according to claim 1, wherein a first fastener (K31) is provided on the left side of the sliding adjuster (U6), a second fastener (X34) is provided on the right side, the first fastener (K31) and the second fastener (X34) are both in a "U" structure, and the openings of the first fastener (K31) and the second fastener (X34) are opposite, the first fastener (K31) is fastened to the second fastener (X34), 2 insertion holes (L32) are provided on the first fastener (K31) and the second fastener (X34), and the clamping jaw (T4) penetrates through the sliding adjuster (U6) through the insertion holes (L32);

be equipped with 3 butt joint guide (Z33) in slip accent piece (U6), the left end and the right-hand member of butt joint guide (Z33) all are equipped with traction board (Q45), the left end traction board (Q45) with first fastener (K31) are connected, the right-hand member traction board (Q45) with second fastener (X34) are connected, be equipped with on traction board (Q45) connect hole (C41), clamping jaw (T4) are passed through jack (L32) get into connect hole (C41) and run through slip accent piece (U6).

5. The robot manipulator according to claim 4, wherein a movable frame (M44) is arranged in the middle of the docking guide (Z33), the left end and the right end of the movable frame (M44) are connected with a holding plate (Q45), and the holding plate (Q45) is provided with the receiving hole (C41);

be equipped with 4 fixture blocks (B46) in movable frame (M44), adjacent be equipped with movable chamber (N42) between fixture block (B46), be equipped with quadrilateral piece (V43) that opens and shuts in movable chamber (N42), open and close the left summit and the right summit of piece (V43) all with fixture block (B46) are connected.

6. The robot manipulator according to claim 5, wherein the opening-closing adjusting member (V43) is a quadrangle formed by 4 connecting frames (Y54), 2 telescopic opening-closing members (I56) are arranged in the middle of the connecting frames (Y54), and two ends of the 2 telescopic opening-closing members (I56) are respectively inserted into the 4 connecting frames (Y54); the middle of the telescopic tensioning piece (I56) is connected through a limiting block (P57), and two ends of the telescopic tensioning piece (I56) are connected through a movable fastener (E51);

the elastic balls (R53) are uniformly distributed on one sides, far away from each other, of the 2 telescopic tensioning members (I56), the elastic balls (R53) which are adjacent on the straight line are connected through a brace (T52), the elastic balls (R53) at the corners are connected through triangular extension members (U55), and the telescopic tensioning members (I56), the elastic balls (R53), the brace (T52) and the triangular extension members (U55) form a triangle.